You are not required to submit form I-131 when you apply for adjustment of status. The application can be submitted free of charge at any time while your I-485 application is still pending before USCIS. You will also need to submit a copy of the I-485 receipt notice along with the application.
We generally recommend that you do so. You are paying for it anyway. The issue is whether or not you should actually use it. If you have accrued 180 (or more days) of unlawful presence then you may end up being barred from re-entry. Be careful and be sure to seek the assistance of qualified immigration counsel here.
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